CN102075138B - Charging and discharging control system and method of flywheel battery - Google Patents
Charging and discharging control system and method of flywheel battery Download PDFInfo
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- CN102075138B CN102075138B CN201110023806.9A CN201110023806A CN102075138B CN 102075138 B CN102075138 B CN 102075138B CN 201110023806 A CN201110023806 A CN 201110023806A CN 102075138 B CN102075138 B CN 102075138B
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Abstract
The invention discloses a charging and discharging control system and a charging and discharging control method of a flywheel battery. The system comprises a three-phase uncontrollable rectifying circuit, an energy storage filter capacitor, an insulated gate bipolar translator (IGBT) power conversion circuit, a zero passage detection circuit, a voltage detection circuit, a current detection circuit, a direct current voltage detection and overvoltage protection circuit, a sampling and filtering overcurrent protection circuit, a displacement sampling circuit, a temperature sampling circuit, a digital signal processor controller, an energy storage inductor, a three-phase linked switch and a rotary transformer signal processing circuit, wherein the energy storage inductor is connected between the output end of each phase on the alternating current side of the IGBT power conversion circuit and the input end of a flywheel motor; the three-phase linked switch is connected in parallel with the energy storage inductor respectively; and the rotary transformer signal processing circuit is connected between the signal output end of a rotary transformer of the flywheel motor and the quadrature encoder pulse (QEP) port of the DSP controller. In the method, charging and discharging control of a flywheel battery is realized based on the system. The system has stable output direct current voltage, small high-frequency ripple, quick dynamic response, and is particularly suitable for quick charging and quick discharging working conditions; and the power factor and efficiency of the system are improved greatly.
Description
Technical field
The present invention relates to a kind of to flying wheel battery charge, the system of control of discharge, also relate to the method for utilizing this system to control flying wheel battery.
Background technology
The charging of flying wheel battery, the basic controlling process that discharge process is flying wheel battery.Current flying wheel battery charge-discharge control system both domestic and external all adopts AC-DC-AC system as shown in Figure 1, and this system comprises the uncontrollable rectification circuit 1 of three-phase, buck control circuit of chopping 2, energy storage filter capacitor 3, IGBT power conversion circuit 4, zero cross detection circuit 5, voltage, current detection circuit 6, direct voltage detects and overvoltage crowbar 7, sampling filter current foldback circuit 8, hall signal treatment circuit 9, displacement, temperature sampling circuit 10 and dsp controller 200, wherein, the uncontrollable rectification circuit 1 of three-phase, buck control circuit of chopping 2 is connected successively with IGBT power conversion circuit 4, the AC of IGBT power conversion circuit 4 connects fly-wheel motor 100, energy storage filter capacitor 3 is connected between the DC bus between buck control circuit of chopping 2 and IGBT power conversion circuit 4, direct voltage detects and overvoltage crowbar 7 is connected between the DC side of the uncontrollable rectification circuit 1 of three-phase and the A/D mouth of dsp controller 200, dsp controller 200 and IGBT power conversion circuit 4 control connections, the failure output terminal of IGBT power conversion circuit 4 connects the PDP INT input of dsp controller 200, zero cross detection circuit 5 is connected between a phase input and the CAP6 mouth of dsp controller 200 of fly-wheel motor 100, voltage, current detection circuit 6 connects the three-phase input end of fly-wheel motor 100, voltage, current detection circuit 6, sampling filter current foldback circuit 8, the A/D mouth of dsp controller 200 connects successively, and hall signal treatment circuit 9 is connected between the hall signal output of fly-wheel motor 100 and the QEP mouth of dsp controller 200, displacement, temperature sampling circuit 10 is connected to the displacement of fly-wheel motor 100, between the I/O mouth of temperature sensor output and dsp controller 200, dsp controller 200 communicates by its Intelligent communication module and man-machine interface.
When flying wheel battery charges, system is controlled IGBT power conversion module by the electric energy from civil power or other power supplys by DSP microprocessor (Digital Signal Processor) and is driven flywheel to accelerate to certain rotating speed, electric energy conversion, be that mechanical energy stores, complete the charging process of flying wheel battery; When system need to be discharged, fly-wheel motor transfers under generating operation mode works, flywheel is just converted into electric energy by stored mechanical energy, the alternating current of the three phase variable frequency transformation that system is sent fly-wheel motor by the fly-wheel diode of IGBT power conversion module self is not controlled rectification and is converted into direct current, and by the buck control circuit of chopping on bus, this direct current is stabilized in to certain interval for load.
There is following defect in existing flying wheel battery charge-discharge control system:
1, because the rectifying device of flying wheel battery charge-discharge control system application adopts diode not control rectification or Thyristor Controlled rectification mostly, flying wheel battery produces the three-phase alternating current that voltage and frequency all constantly reduce in discharge process, this ac frequency is high frequency, adopt uncontrollable diode rectification or phase control rectifier, the harmonic content of system is increased, AC wave distortion is serious, causes the power factor of whole system low, efficiency is low;
2,, because the rear class of flying wheel battery charge-discharge control system also adopts buck chopper stabilivolt circuit, system module causes system reliability to reduce more, increases the hardware cost of system simultaneously.
Summary of the invention
One of the technical problem to be solved in the present invention is, a kind of flying wheel battery charge-discharge control system is provided, and overcomes low, the inefficient defect of existing flying wheel battery charge-discharge control system power factor, improves system reliability, reduces system hardware cost.
Two of the technical problem to be solved in the present invention is, a kind of flying wheel battery charge/discharge control method is provided, and overcomes existing flying wheel battery charge-discharge control system defect, improves system power factor, system effectiveness and system reliability, reduces system hardware cost.
The present invention solves the technical scheme that one of its technical problem adopts: construct a kind of flying wheel battery charge-discharge control system, comprise the uncontrollable rectification circuit of three-phase, energy storage filter capacitor, IGBT power conversion circuit, zero cross detection circuit, voltage, current detection circuit, direct voltage detection and overvoltage crowbar, sampling filter current foldback circuit, displacement, temperature sampling circuit and dsp controller.
The uncontrollable rectification circuit DC side of described three-phase is connected with described IGBT power conversion circuit DC side, described IGBT power conversion circuit AC connects fly-wheel motor, and described energy storage filter capacitor is connected between the DC bus between the uncontrollable rectification circuit of described three-phase and described IGBT power conversion circuit;
Described direct voltage detects and overvoltage crowbar is connected between the uncontrollable rectification circuit DC side of described three-phase and the A/D mouth of described dsp controller;
The PWM delivery outlet of described dsp controller is connected with described IGBT power conversion circuit, and the failure output terminal of this IGBT power conversion circuit connects the PDP INT input of dsp controller;
Described zero cross detection circuit is connected between a phase input and the CAP6 mouth of dsp controller of fly-wheel motor;
Described voltage, current detection circuit connect the three-phase input end of fly-wheel motor, and the A/D mouth of this voltage, current detection circuit, described sampling filter current foldback circuit, described dsp controller connects successively;
Described displacement, temperature sampling circuit are connected between the I/O mouth of displacement transducer, temperature sensor output and described dsp controller of fly-wheel motor;
Described dsp controller communicates by its Intelligent communication module and man-machine interface;
Comprise energy storage inductor, three-phase linked switch and signals of rotating transformer treatment circuit;
Described energy storage inductor is serially connected between the every phase output terminal of described IGBT power conversion circuit AC and the input of fly-wheel motor;
Described three-phase linked switch is respectively with described energy storage inductor and connect;
Described signals of rotating transformer treatment circuit is connected between the QEP mouth that revolves varying signal output and dsp controller of fly-wheel motor.
In flying wheel battery charge-discharge control system of the present invention, described sampling filter current foldback circuit comprises the reverse amplification circuit connecting successively, stagnant ring comparison circuit and protection output circuit.
The present invention solves the technical scheme that two of its technical problem adopts: a kind of flying wheel battery charge/discharge control method is provided, and the flying wheel battery charge-discharge control system based on above-mentioned is realized flying wheel battery and discharged and recharged control, comprises the steps:
SPl, dsp controller shield all interrupt signals;
SP2, system is carried out to initialization;
SP3, A/D sampling, task manager, I/O mouth, communication module are carried out to initialization;
SP4, enable DSP timer internal Tl underflow interrupt, enable DSP external interrupt 1, external interrupt: open DSP interrupt;
SP5, system enter on-the-spot major cycle, wait for interrupt signal;
Described interrupt signal comprises the interruption of timer T1 underflow, DSP external interrupt 1, DSP external interrupt 2;
When producing DSP external interrupt 1, system enters charging process, and step is as follows:
A1, set charging signals, rotating speed maintains signal zero clearing;
A2, timer T1 underflow interrupt starting, and keep the scene intact;
A3, according to charging asserts signal call charging subprogram;
A4, judge that whether fly-wheel motor rotating speed is more than or equal to setting speed, when fly-wheel motor rotating speed is less than setting speed, goes to step A3; When fly-wheel motor rotating speed is more than or equal to setting speed, turn lower step;
A5, the asserts signal of charging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 1, returns to scene;
Described charging subprogram is:
Aa, system DC bus-bar voltage, fly-wheel motor electric current are sampled and A/D conversion;
Ab, judge the whether initialization of fly-wheel motor rotor phase, when rotor phase no initializtion, after initialization rotor phase, go to step Ad; When rotor phase initialization, calculate rotor flux rotating angle increment and rotor absolute position;
Ac, judge whether rotating speed when sampling, when to rotating speed sampling, to calculate rotor speed, rotating speed is carried out turning lower step after closed loop PID adjusting; When not arriving rotating speed sampling, turn lower step;
Ad, electric current, the voltage signal processing of standardizing that sampling is returned;
Ae, carry out Clarke conversion;
Af, look into sin, cos table, carry out Park conversion;
Ag, carry out q axle, d shaft current closed loop PID and regulate;
Ah, carry out Park inverse transformation;
Ak, carry out after SVPWM adjusting complete charge;
When producing DSP external interrupt 2, system enters discharge process, and step is as follows:
B1, set discharge signal, rotating speed maintains signal zero clearing;
B2, timer T1 underflow interrupt starting, and keep the scene intact;
B3, according to electric discharge asserts signal call electric discharge subprogram;
B4, judge that whether fly-wheel motor rotating speed is less than or equal to setting speed, when fly-wheel motor rotating speed is greater than setting speed, goes to step B3; When fly-wheel motor rotating speed is less than or equal to setting speed, turn lower step;
B5, the asserts signal of discharging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 2, returns to scene;
Described electric discharge subprogram is:
Ba, software startup A/D sampling, reads sampled data;
Bb, judge output DC bus-bar voltage whether need regulate, when voltage does not need to regulate, go to step Bd, when voltage need to regulate, turn lower step;
Bc, to output DC bus-bar voltage carry out voltage close loop PID adjusting;
Bd, fly-wheel motor rotor is carried out to position probing, calculate rotor phase;
The electric current of Be, the ac-dc axis to equivalence carries out current closed-loop PID adjusting;
Bf, carry out SVPWM adjusting;
Bg, refresh after comparand register, finish electric discharge;
In major cycle, system gets the hang of and maintains processing at the scene, and step is as follows:
C1, timer T1 underflow interrupt starting;
C2, keep the scene intact;
C3, according to rotating speed, maintain signal and call rotating speed and maintain subprogram;
C4, return to scene;
Described rotating speed maintains subprogram:
Ca, judge whether current rotating speed is less than 95% of setting speed, current rotating speed be more than or equal to setting speed 95% time proceed to step SP5, current rotating speed be less than setting speed 95% time turn lower step;
Cb, carry out fly-wheel motor electric current, DC bus-bar voltage AD sampling and conversion;
Cc, fly-wheel motor rotating speed is carried out to closed loop PID adjusting;
Cd, fly-wheel motor rotating speed, rotor position information are detected;
The electric current of Ce, the ac-dc axis to equivalence carries out current closed-loop PID adjusting;
Cf, carry out after SVPWM adjusting, finish rotating speed and maintain subprogram.
In flying wheel battery charge/discharge control method of the present invention, described interrupt signal comprises DSP external interrupt 3, and described step SP4 comprises and enables DSP external interrupt 3; When producing DSP external interrupt 3, system enters energy query processing, and step is as follows:
Da, data keep the scene intact;
Db, judge whether DSP external interrupt 1 is moved, during operation, stop, after DSP external interrupt 1, going to step Dd; While not moving, turn lower step;
Dc, judge that whether DSP external interrupt 2 is moved, and during operation, stops DSP external interrupt 2; While not moving, directly turn lower step;
The energy that Dd, calculating flywheel store, output energy result of calculation.
In flying wheel battery charge/discharge control method of the present invention, described interrupt signal comprises fault interrupting signal, and described step SP4 comprises and enables DSP fault interrupting; When producing fault interrupting signal, system enters troubleshooting, and step is as follows:
Ea, keep the scene intact;
Eb, forbid sending driving signal;
Ec, failure judgement;
Ed, removing Reflector;
Ee, restoring scene, finish fault interrupting.
Implement flying wheel battery charge-discharge control system of the present invention and control method, compared with the prior art, its beneficial effect is:
1. system adopts energy storage inductor, three-phase linked switch and signals of rotating transformer treatment circuit, omit buck control circuit of chopping, reduced the harmonic current of rectification input side under flywheel generating operating mode, the DC voltage stability of final output, high frequency ripple is little, dynamic response is fast, and loading section output current continuously, pulse little; Make the power factor of flying wheel battery system approach 1, the efficiency of system, more than 90%, adapts to the operating mode with flying wheel battery fast charging and discharging especially;
2. the present invention takes the vector control method based on resolver feedback, because resolver is a kind of accurate angle, position, speed detector, under operating mode at a high speed, resolver can detect the information such as rotating speed, rotor-position in real time and exactly, it is good that vector control method based on resolver has dynamic response characteristic, velocity control accuracy is high, can meet high-precise synchronization control requirement;
3. the present invention adopts the PWM commutation technique based on space vector, and PWM rectification control system is a double loop system consisting of outer voltage and current inner loop, outer voltage regulated output voltage, and current inner loop forces actual current tracing preset electric current.By selecting suitable mode of operation and operating time interval, the electric current of AC object variations in accordance with regulations, make energy realize two-way flow at AC and DC side, and ac-side current approach very much sinusoidal wave and with AC voltage same-phase, can make convertor assembly obtain higher power factor, thereby greatly improve power factor and the system effectiveness of system.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is existing flying wheel battery charge-discharge control system circuit diagram.
Fig. 2 is flying wheel battery charge-discharge control system circuit diagram of the present invention.
Fig. 3 is a kind of execution mode of sampling filter current foldback circuit in flying wheel battery charge-discharge control system of the present invention.
Fig. 4 is flying wheel battery charge/discharge control method main flow chart of the present invention.
Fig. 5 is the flying wheel battery charging responding process figure in the interruption of T1 underflow in flying wheel battery charge/discharge control method of the present invention.
Fig. 6 is flying wheel battery charging subroutine flow chart in flying wheel battery charge/discharge control method of the present invention.
Fig. 7 is the flying wheel battery discharge response flow chart in the interruption of T1 underflow in flying wheel battery charge/discharge control method of the present invention.
Fig. 8 is flying wheel battery electric discharge subroutine flow chart in flying wheel battery charge/discharge control method of the present invention.
Fig. 9 is the basic control block diagram of flywheel electric discharge rectifier dicyclo in flying wheel battery charge/discharge control method of the present invention.
Figure 10 is that in flying wheel battery charge/discharge control method of the present invention, flying wheel battery state in the interruption of T1 underflow maintains control flow chart.
Figure 11 is that in flying wheel battery charge/discharge control method of the present invention, flying wheel battery rotating speed maintains subroutine flow chart.
Figure 12 is flying wheel battery energy querying flow figure in flying wheel battery charge/discharge control method of the present invention.
Figure 13 is troubleshooting subroutine flow chart in flying wheel battery charge/discharge control method of the present invention.
Embodiment
As shown in Figure 2, flying wheel battery charge-discharge control system of the present invention comprises that the uncontrollable rectification circuit 1 of three-phase, energy storage filter capacitor 3, IGBT power conversion circuit 4, zero cross detection circuit 5, voltage, current detection circuit 6, direct voltage detect and overvoltage crowbar 7, sampling filter current foldback circuit 8, displacement, temperature sampling circuit 10, dsp controller 200, energy storage inductor 12, three-phase linked switch 11 and signals of rotating transformer treatment circuit 13.
Uncontrollable rectification circuit 1 DC side of three-phase is connected with IGBT power conversion circuit 4 DC side, IGBT power conversion circuit 4 ACs connect fly-wheel motor 100, and energy storage filter capacitor 3 is connected between the DC bus between the uncontrollable rectification circuit 1 of three-phase and IGBT power conversion circuit 4.
Direct voltage detects and overvoltage crowbar 7 is connected between uncontrollable rectification circuit 1 DC side of three-phase and the A/D mouth of dsp controller 200.
The PWM delivery outlet of dsp controller 200 is connected with IGBT power conversion circuit, and the failure output terminal of IGBT power conversion circuit 4 connects the PDP INT input of dsp controller 200.
Zero cross detection circuit 5 is connected between a phase input and the CAP6 mouth of dsp controller 200 of fly-wheel motor 100.In the present embodiment, zero cross detection circuit 5 is connected to the A phase input of fly-wheel motor 100, therefore claim A zero cross detection circuit.In other embodiments, zero cross detection circuit 5 is connected to B phase input or the C phase input of fly-wheel motor 100.
Voltage, current detection circuit 6 connect the three-phase input end of fly-wheel motor 100.The A/D mouth of voltage, current detection circuit 6, sampling filter current foldback circuit 8, dsp controller 200 connects successively.
Displacement, temperature sampling circuit 10 are connected between the I/O mouth of displacement transducer, temperature sensor output and dsp controller 200 of fly-wheel motor 100.
Energy storage inductor 12 (La, Lb, Lc) is serially connected between the IGBT power conversion circuit every phase output terminal of 4 AC and the input of fly-wheel motor 100.
Three-phase linked switch 11 (SCR) is respectively with energy storage inductor 12 (La, Lb, Lc) and connect.
Signals of rotating transformer treatment circuit 13 is connected to revolving between varying signal output and the QEP mouth of dsp controller 200 of fly-wheel motor 100.
As shown in Figure 3, in the present embodiment, sampling filter current foldback circuit 8 comprises the reverse amplification circuit 81 connecting successively, stagnant ring comparison circuit 82 and protection output circuit 83.In figure, ISAMPLE is current input signal, and PROTECT end is guard signal output.The current signal that Hall detects is input to ISAMPLE terminal voltage input signal through the voltage filter follow circuit of prime, the effect of preamplifying circuit is that this voltage signal is amplified to certain multiple, be input to the negative pole of stagnant ring comparison circuit, when this magnitude of voltage is not within the scope of stagnant ring comparison circuit, PROTECT will output low level, block PWM output, to limit electric current in winding, continue to increase.
In other embodiments, sampling filter current foldback circuit 8 can adopt other conventional sample rate ripple current foldback circuit structures.
Flying wheel battery charge/discharge control method of the present invention is realized flying wheel battery is discharged and recharged to control, inquiry control and troubleshooting based on above-mentioned flying wheel battery charge-discharge control system.
As shown in Figure 4, flying wheel battery charge/discharge control method of the present invention comprises the steps:
SP1, dsp controller shield all interrupt signals;
SP2, system is carried out to initialization;
SP3, A/D sampling, task manager, I/O mouth, communication module are carried out to initialization;
SP4, enable DSP timer internal T1 underflow interrupt, enable DSP external interrupt 1, external interrupt 2, external interrupt 3 and fault interrupting; Opening DSP interrupts;
SP5, system enter on-the-spot major cycle, wait for interrupt signal.
When producing DSP external interrupt 1, system enters charging process.Charge corresponding flow process as shown in Figure 5, comprise the steps:
A1, set charging signals, maintain signal zero clearing by rotating speed;
A2, timer T1 underflow interrupt starting, and keep the scene intact;
A3, according to charging asserts signal call charging subprogram;
A4, judge that whether fly-wheel motor rotating speed is more than or equal to setting speed (this setting speed is according to controlling the artificial setting of needs), when fly-wheel motor rotating speed is less than setting speed, goes to step A3; When fly-wheel motor rotating speed is more than or equal to setting speed, turn lower step;
A5, the asserts signal of charging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 1, returns to scene.
Charging subprogram as shown in Figure 6, comprises the steps:
Aa, system DC bus-bar voltage, fly-wheel motor electric current are sampled and A/D conversion;
Ab, judge the whether initialization of fly-wheel motor rotor phase, when rotor phase no initializtion, after initialization rotor phase, go to step Ad; When rotor phase initialization, calculate rotor flux rotating angle increment and rotor absolute position;
Ac, judge whether rotating speed when sampling, when to rotating speed sampling, to calculate rotor speed, rotating speed is carried out turning lower step after closed loop PID adjusting; When not arriving rotating speed sampling, turn lower step;
Ad, electric current, the voltage signal processing of standardizing that sampling is returned;
Ae, carry out Clarke conversion;
Af, look into sin, cos table, carry out Park conversion;
Ag, carry out q axle, d shaft current closed loop PID and regulate;
Ah, carry out Park inverse transformation;
Ak, carry out after SVPWM adjusting complete charge.
When producing DSP external interrupt 2, system enters discharge process.Discharge corresponding flow process as shown in Figure 7, comprise the steps:
B1, set discharge signal, rotating speed maintains signal zero clearing;
B2, timer T1 underflow interrupt starting, and keep the scene intact;
B3, according to electric discharge asserts signal call electric discharge subprogram;
B4, judge that whether fly-wheel motor rotating speed is less than or equal to setting speed, when fly-wheel motor rotating speed is greater than setting speed, goes to step B3; When fly-wheel motor rotating speed is less than or equal to setting speed, turn lower step;
B5, the asserts signal of discharging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 2, returns to scene.
Electric discharge subprogram as shown in Figure 8, comprises the steps:
Ba, software startup A/D sampling, reads sampled data;
Bb, judge output DC bus-bar voltage whether need regulate, when voltage does not need to regulate, go to step Bd, when voltage need to regulate, turn lower step;
Bc, to output DC bus-bar voltage carry out voltage close loop PID adjusting;
Bd, fly-wheel motor rotor is carried out to position probing, calculate rotor phase;
Be, equivalent ac-dc axis current closed-loop PID is regulated;
Bf, carry out SVPWM adjusting;
Bg, refresh after comparand register, finish electric discharge.
As shown in Figure 9, PWM rectification in flying wheel battery charge/discharge control method of the present invention is a double loop system, by outer voltage PID adjustment module, current inner loop PID module and SVPWM module etc., formed, wherein SVPWM module and changes in coordinates angle used is detected in real time by the resolver being arranged on flywheel, and Voltage loop is reference voltage V
refwith the DC bus-bar voltage V feeding back
fdifference carry out PID adjusting, electric current loop be through Voltage loop regulate after current reference value i
drefwith the current i feeding back
dcarry out PID adjusting, i
qrefwith the current i feeding back
qcarry out PID adjusting.Outer voltage regulated output voltage in figure, and current inner loop forces actual current tracing preset electric current (given electric current is obtained by outer voltage).
In major cycle, system gets the hang of and maintains processing at the scene, and state maintains control as shown in figure 10, comprises the steps:
C1, timer T1 underflow interrupt starting;
C2, keep the scene intact;
C3, according to rotating speed, maintain signal and call rotating speed and maintain subprogram;
C4, return to scene.
Rotating speed maintains subprogram as shown in figure 11, comprises the steps:
Ca, judge whether current rotating speed is less than 95% of setting speed, current rotating speed be more than or equal to setting speed 95% time proceed to step SP5, current rotating speed be less than setting speed 95% time turn lower step:
Cb, system DC bus-bar voltage, fly-wheel motor electric current are sampled and A/D conversion;
Cc, fly-wheel motor rotating speed is carried out to closed loop PID adjusting;
Cd, fly-wheel motor rotating speed, rotor position information are detected;
Ce, equivalent ac-dc axis electric current is carried out to current closed-loop PID adjusting;
Cf, carry out after SVPWM adjusting, finish rotating speed and maintain subprogram.
When producing DSP external interrupt 3, system enters energy query processing.Flying wheel battery energy querying flow as shown in figure 12, comprises the steps:
Da, data keep the scene intact;
Db, judge whether DSP external interrupt 1 is moved, during operation, stop, after DSP external interrupt 1, going to step Dd; While not moving, turn lower step;
Dc, judge that whether DSP external interrupt 2 is moved, and during operation, stops DSP external interrupt 2; While not moving, directly turn lower step;
The energy that Dd, calculating flywheel store, output energy result of calculation.
When producing fault interrupting signal, system enters troubleshooting.Troubleshooting subprogram flow process as shown in figure 13, comprises the steps:
Ea, keep the scene intact;
Eb, forbid sending driving signal;
Ec, failure judgement;
Ed, removing Reflector;
Ee, restoring scene, finish fault interrupting.
In the present embodiment, interrupt signal comprises the interruption of timer T1 underflow, DSP external interrupt 1, DSP external interrupt 2, DSP external interrupt 3 and fault interrupting.
In other embodiments, interrupt signal comprises the interruption of timer T1 underflow, DSP external interrupt 1 and DSP external interrupt 2, and now step SP4 interrupts for enabling DSP timer internal T1 underflow, enables DSP external interrupt 1 and external interrupt 2.
In other embodiments, interrupt signal comprises the interruption of timer T1 underflow, DSP external interrupt 1, DSP external interrupt 2 and DSP external interrupt 3, now step SP4 interrupts for enabling DSP timer internal T1 underflow, enables DSP external interrupt 1, external interrupt 2 and DSP external interrupt 3.
Claims (3)
1. a flying wheel battery charge/discharge control method, the method is based on flying wheel battery charge-discharge control system, and this system comprises the uncontrollable rectification circuit of three-phase, energy storage filter capacitor, IGBT power conversion circuit, zero cross detection circuit, voltage, current detection circuit, direct voltage detection and overvoltage crowbar, sampling filter current foldback circuit, displacement, temperature sampling circuit and dsp controller;
The uncontrollable rectification circuit DC side of described three-phase is connected with described IGBT power conversion circuit DC side, described IGBT power conversion circuit AC connects fly-wheel motor, and described energy storage filter capacitor is connected between the DC bus between the uncontrollable rectification circuit of described three-phase and described IGBT power conversion circuit;
Described direct voltage detects and overvoltage crowbar is connected between the uncontrollable rectification circuit DC side of described three-phase and the A/D mouth of described dsp controller;
The PWM delivery outlet of described dsp controller is connected with described IGBT power conversion circuit, and the failure output terminal of this IGBT power conversion circuit connects the PDP INT input of dsp controller;
Described zero cross detection circuit is connected between a phase input and the CAP6 mouth of dsp controller of fly-wheel motor;
Described voltage, current detection circuit connect the three-phase input end of fly-wheel motor, and the A/D mouth of this voltage, current detection circuit, described sampling filter current foldback circuit, described dsp controller connects successively;
Described displacement, temperature sampling circuit are connected between the I/O mouth of displacement transducer, temperature sensor output and described dsp controller of fly-wheel motor;
Described dsp controller communicates by its Intelligent communication module and man-machine interface;
It is characterized in that, comprise energy storage inductor, three-phase linked switch and signals of rotating transformer treatment circuit;
Described energy storage inductor is serially connected between the every phase output terminal of described IGBT power conversion circuit AC and the input of fly-wheel motor;
Described three-phase linked switch is respectively with described energy storage inductor and connect; Described signals of rotating transformer treatment circuit is connected between the QEP mouth that revolves varying signal output and dsp controller of fly-wheel motor;
Comprise the steps:
SP1, dsp controller shield all interrupt signals;
SP2, system is carried out to initialization;
SP3, A/D sampling, task manager, I/O mouth, communication module are carried out to initialization;
SP4, enable DSP timer internal T1 underflow interrupt, enable DSP external interrupt 1, external interrupt; Opening DSP interrupts;
SP5, system enter on-the-spot major cycle, wait for interrupt signal;
Described interrupt signal comprises the interruption of timer T1 underflow, DSP external interrupt 1, DSP external interrupt 2;
When producing DSP external interrupt 1, system enters charging process, and step is as follows:
A1, set charging signals, rotating speed maintains signal zero clearing;
A2, timer T1 underflow interrupt starting, and keep the scene intact;
A3, according to charging asserts signal call charging subprogram;
A4, judge that whether fly-wheel motor rotating speed is more than or equal to setting speed, when fly-wheel motor rotating speed is less than setting speed, goes to step A3; When fly-wheel motor rotating speed is more than or equal to setting speed, turn lower step;
A5, the asserts signal of charging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 1, returns to scene;
Described charging subprogram is:
Aa, system DC bus-bar voltage, fly-wheel motor electric current are sampled and A/D conversion;
Ab, judge the whether initialization of fly-wheel motor rotor phase, when rotor phase no initializtion, after initialization rotor phase, go to step Ad; When rotor phase initialization, calculate rotor flux rotating angle increment and rotor absolute position;
Ac, judge whether rotating speed when sampling, when to rotating speed sampling, to calculate rotor speed, rotating speed is carried out turning lower step after closed loop PID adjusting; When not arriving rotating speed sampling, turn lower step;
Ad, electric current, the voltage signal processing of standardizing that sampling is returned;
Ae, carry out Clarke conversion;
Af, look into sin, cos table, carry out Park conversion;
Ag, carry out q axle, d shaft current closed loop PID and regulate;
Ah, carry out Park inverse transformation;
Ak, carry out after SVPWM adjusting complete charge;
When producing DSP external interrupt 2, system enters discharge process, and step is as follows:
B1, set discharge signal, rotating speed maintains signal zero clearing;
B2, timer T1 underflow interrupt starting, and keep the scene intact;
B3, according to electric discharge asserts signal call electric discharge subprogram;
B4, judge that whether fly-wheel motor rotating speed is less than or equal to setting speed, when fly-wheel motor rotating speed is greater than setting speed, goes to step B3; When fly-wheel motor rotating speed is less than or equal to setting speed, turn lower step;
B5, the asserts signal of discharging zero clearing, set motor speed maintains signal, removes after the flag bit of DSP external interrupt 2, returns to scene;
Described electric discharge subprogram is:
Ba, software startup A/D sampling, reads sampled data;
Bb, judge output DC bus-bar voltage whether need regulate, when voltage does not need to regulate, go to step Bd, when voltage need to regulate, turn lower step;
Bc, to output DC bus-bar voltage carry out voltage close loop PID adjusting;
Bd, fly-wheel motor rotor is carried out to position probing, calculate rotor phase;
The electric current of Be, the ac-dc axis to equivalence carries out current closed-loop PID adjusting;
Bf, carry out SVPWM adjusting;
Bg, refresh after comparand register, finish electric discharge;
In major cycle, system gets the hang of and maintains processing at the scene, and step is as follows:
C1, timer T1 underflow interrupt starting;
C2, keep the scene intact;
C3, according to rotating speed, maintain signal and call rotating speed and maintain subprogram;
C4, return to scene;
Described rotating speed maintains subprogram:
Ca, judge whether current rotating speed is less than 95% of setting speed, current rotating speed be more than or equal to setting speed 95% time proceed to step SP5, current rotating speed be less than setting speed 95% time turn lower step;
Cb, carry out fly-wheel motor electric current, DC bus-bar voltage AD sampling and conversion;
Cc, fly-wheel motor rotating speed is carried out to closed loop PID adjusting;
Cd, fly-wheel motor rotating speed, rotor position information are detected;
The electric current of Ce, the ac-dc axis to equivalence carries out current closed-loop PID adjusting;
Cf, carry out after SVPWM adjusting, finish rotating speed and maintain subprogram.
2. flying wheel battery charge/discharge control method according to claim 1, is characterized in that: described interrupt signal comprises DSP external interrupt 3, and described step SP4 comprises and enables DSP external interrupt 3; When producing DSP external interrupt 3, system enters energy query processing, and step is as follows:
Da, data keep the scene intact;
Db, judge whether DSP external interrupt 1 is moved, during operation, stop, after DSP external interrupt 1, going to step Dd; While not moving, turn lower step;
Dc, judge that whether DSP external interrupt 2 is moved, and during operation, stops DSP external interrupt 2; While not moving, directly turn lower step;
The energy that Dd, calculating flywheel store, output energy result of calculation.
3. flying wheel battery charge/discharge control method according to claim 1, is characterized in that: described interrupt signal comprises fault interrupting signal, and described step SP4 comprises and enables DSP fault interrupting; When producing fault interrupting signal, system enters troubleshooting, and step is as follows:
Ea, keep the scene intact;
Eb, forbid sending driving signal;
Ec, failure judgement;
Ed, removing Reflector;
Ee, restoring scene, finish fault interrupting.
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| CN201110023806.9A CN102075138B (en) | 2011-01-21 | 2011-01-21 | Charging and discharging control system and method of flywheel battery |
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| CN201110023806.9A CN102075138B (en) | 2011-01-21 | 2011-01-21 | Charging and discharging control system and method of flywheel battery |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105846702A (en) * | 2016-05-10 | 2016-08-10 | 北京泓慧国际能源技术发展有限公司 | PWM rectification method of high-speed magnetic suspension energy storage flywheel discharge system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5291763B2 (en) | 2011-06-24 | 2013-09-18 | ファナック株式会社 | Motor drive device having energy storage unit |
| CN104466900B (en) * | 2014-12-10 | 2017-12-01 | 英飞特电子（杭州）股份有限公司 | A kind of input voltage overvoltage crowbar |
| CN104777517A (en) * | 2015-03-12 | 2015-07-15 | 北京中矿大地地球探测工程技术有限公司 | Transmitting circuit of transmitter in prospecting equipment using transient electromagnetic method |
| CN105552943B (en) * | 2016-02-04 | 2018-04-10 | 清华大学 | Based on the fast dynamic response control method for exchanging grid-connected flywheel energy storage system |
| CN111064200B (en) * | 2019-11-27 | 2022-04-05 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Railway purification power supply device and fault exit protection method thereof |
| CN111257767B (en) * | 2020-02-21 | 2022-07-12 | 深圳普瑞赛思检测技术有限公司 | Battery integration detection system and method |
| CN111313525B (en) * | 2020-05-14 | 2020-08-18 | 沈阳微控新能源技术有限公司 | Cooperative charging and discharging control method for flywheel energy storage device and energy storage converter |
| CN113189501B (en) * | 2021-04-14 | 2022-10-25 | 南京君海数能科技有限公司 | Battery testing and battery detection synchronization system |
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| CN1554545A (en) * | 2003-12-22 | 2004-12-15 | 西安交通大学 | Construction method for electric car flying wheel battery auxiliary power system |
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| CN1554545A (en) * | 2003-12-22 | 2004-12-15 | 西安交通大学 | Construction method for electric car flying wheel battery auxiliary power system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105846702A (en) * | 2016-05-10 | 2016-08-10 | 北京泓慧国际能源技术发展有限公司 | PWM rectification method of high-speed magnetic suspension energy storage flywheel discharge system |
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